better error message when no links are found in urdf file

2010-07-12 16:34:22 +00:00 · 2010-07-12 16:34:22 +00:00 · 1b30be26e6
parent dc22f63791
commit 1b30be26e6
1 changed files with 5 additions and 0 deletions
--- a/urdf/src/model.cpp
+++ b/urdf/src/model.cpp
@ -212,6 +212,11 @@ bool Model::initXml(TiXmlElement *robot_xml)
      return false;
    }
  }
+  if (this->links_.empty()){
+    ROS_ERROR("No link elements found in urdf file");
+    return false;
+  }
+
  // Get all Joint elements
  for (TiXmlElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
  {